Fully-closed-loop servomotor control system

• US 5,691,616 A
• Filed: 12/20/1995
• Issued: 11/25/1997
• Est. Priority Date: 12/26/1994
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Iwashita, Yasusuke
• Primary Examiner(s): Sircus, Brian
• Application Number:
  US08/575,575
• Time in Patent Office: 706 Days
• Field of Search: 318/560, 318/565, 318/568.16-568.18, 318/568.22, 318/632, 318/615, 318/623, 318/652
• US Class Current: 318/615
• CPC Class Codes: G05B 19/232 with speed feedback only
• CPC Class Codes: G05B 2219/37297 Two measurements, on driving motor and on slide or on both sides of motor
• CPC Class Codes: G05B 2219/37314 Derive position from speed
• CPC Class Codes: G05B 2219/41053 How to integrate position error, add to speed loop
• CPC Class Codes: G05B 2219/41085 Compensation pulses on inversion of direction of rotation, movement

Abstract

A first integrated position deviation between a move command and an actual position of a servomotor and a second integrated position deviation between the move command and an actual position of a machine moving part are obtained, the difference between the first and second integrated position deviations is smoothed, and a modified move command is created by adding the smoothed difference to the first integrated position deviation and is delivered to a speed loop. When the reversal of rotation of the servomotor is detected, a backlash correction value is added to the first integrated position deviation to update it.

Claims

1. A fully-closed-loop servomotor control method comprising steps of:

adding the difference between a move command and an actual position of a servomotor to a value in a first error counter at every predetermined processing period;

adding the difference between the move command and an actual position of a machine moving part driven by means of the servomotor to a value in a second error counter at every said processing period;

obtaining the difference between the respective output values of the first and second error counters and smoothing the difference to obtain an error counter difference;

obtaining a speed command by multiplying the sum of the error counter difference and the first position deviation by a predetermined position loop gain;

delivering the difference between the speed command and the actual speed of the servomotor to a speed control loop; and

additionally applying a predetermined correction value for backlash correction to the input of the first error counter when the rotating direction of the servomotor is reversed.

2. A fully-closed-loop servomotor control method according to claim 1, wherein said reversal of direction of said servomotor is discriminated by the inversion of the sign of a position command for the servomotor.

3. A fully-closed-loop servomotor control method according to claim 1, wherein said difference between the respective output values of said first and second error counters is smoothed into a value equal to the sum of the product of the error counter difference obtained in the present processing period and a predetermined coefficient k (0<

k<

1) and the product of the error counter difference obtained in the preceding processing period and (k-1) in the case where the servo system is processed by means of a digital signal.

4. A fully-closed-loop servomotor control method according to claim 1, wherein said predetermined correction value for backlash correction is settled in accordance with the backlash between a feed shaft driven by the servomotor and the machine moving part driven by the feed shaft.

5. A fully-closed-loop NC servo system comprising:

a first error counter which receives a move command from a numerical control device, a feedback value for the position of a servomotor, and a predetermined move command correction value for backlash correction, to obtain a computation result by subtracting the feedback value for the position of the servomotor from the sum of the move command and the move command correction value, and accumulates the computation result for outputting;

a second error counter which receives the move command and a feedback value for the position of a machine moving part driven by means of the servomotor, to obtain a computation result by subtracting the feedback value for the position of the machine moving part from the move command, and accumulates the computation result for outputting;

error counter difference computing means which receives the respective output values of the first and second error counters, to obtain a computation result by subtracting the output value of the second error counter from the output value of the first error counter, and carries out smoothing processings for the computation result for outputting;

adder means which receives the respective outputs of the first error counter and the error counter difference computing means to obtain the sum of the two outputs, and delivers the obtained sum to a speed control loop; and

backlash correcting means which determines whether or not the sign of the move command is inverted and changes the predetermined move command correction value for backlash correction from zero to a predetermined value in accordance with the backlash between the servomotor and the machine moving part, when an inversion of the sign is detected.